Totally lost on PS3 controlled salamander robot

I am trying to build a simplified version of a salamander robot based on pleurobot:

I am doing nothing with the spine I am just doing four legs with 3 servos each. It is kind of like a quadruped robot. The supplies I have to use are:

  1. arduino uno
  2. usb host shield
  3. ps3 controller
  4. bluetooth dongle
  5. jumper wires
  6. breadboard
  7. micro servos

I am willing to buy more supplies if necessary. I need to figure out what kind of power supply to use but that can be a later question. I have gotten my ps3 controller to connect to my arduino. I am just so lost on how to do this. I was wondering if anyone might know of any links or projects that might help me out. I would really appreciate it.